diff --git a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
index 9081fdc..099323c 100644
--- a/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
+++ b/automotive/vehicle/aidl_property/android/hardware/automotive/vehicle/VehicleProperty.aidl
@@ -260,6 +260,10 @@
      *
      * Angle is in degrees.  Left is negative.
      *
+     * This property is independent of the angle of the steering wheel. This property must
+     * communicate the angle of the front wheels with respect to the vehicle, not the angle of the
+     * steering wheel.
+     *
      * @change_mode VehiclePropertyChangeMode.CONTINUOUS
      * @access VehiclePropertyAccess.READ
      * @unit VehicleUnit.DEGREES
@@ -272,6 +276,10 @@
      *
      * Angle is in degrees.  Left is negative.
      *
+     * This property is independent of the angle of the steering wheel. This property must
+     * communicate the angle of the rear wheels with respect to the vehicle, not the angle of the
+     * steering wheel.
+     *
      * @change_mode VehiclePropertyChangeMode.CONTINUOUS
      * @access VehiclePropertyAccess.READ
      * @unit VehicleUnit.DEGREES
diff --git a/nfc/aidl/default/Android.bp b/nfc/aidl/default/Android.bp
deleted file mode 100644
index 0cda51d..0000000
--- a/nfc/aidl/default/Android.bp
+++ /dev/null
@@ -1,33 +0,0 @@
-package {
-    default_team: "trendy_team_fwk_nfc",
-    // See: http://go/android-license-faq
-    // A large-scale-change added 'default_applicable_licenses' to import
-    // all of the 'license_kinds' from "hardware_interfaces_license"
-    // to get the below license kinds:
-    //   SPDX-license-identifier-Apache-2.0
-    default_applicable_licenses: ["hardware_interfaces_license"],
-}
-
-cc_binary {
-    name: "android.hardware.nfc-service.example",
-    relative_install_path: "hw",
-    init_rc: ["nfc-service-example.rc"],
-    vintf_fragments: ["nfc-service-example.xml"],
-    vendor: true,
-    cflags: [
-        "-Wall",
-        "-Wextra",
-    ],
-    shared_libs: [
-        "libbase",
-        "liblog",
-        "libutils",
-        "libbinder_ndk",
-        "android.hardware.nfc-V1-ndk",
-    ],
-    srcs: [
-        "main.cpp",
-        "Nfc.cpp",
-        "Vendor_hal_api.cpp",
-    ],
-}
diff --git a/nfc/aidl/default/Nfc.cpp b/nfc/aidl/default/Nfc.cpp
deleted file mode 100644
index 4685b59..0000000
--- a/nfc/aidl/default/Nfc.cpp
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
- * Copyright (C) 2021 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include "Nfc.h"
-
-#include <android-base/logging.h>
-
-#include "Vendor_hal_api.h"
-
-namespace aidl {
-namespace android {
-namespace hardware {
-namespace nfc {
-
-std::shared_ptr<INfcClientCallback> Nfc::mCallback = nullptr;
-AIBinder_DeathRecipient* clientDeathRecipient = nullptr;
-
-void OnDeath(void* cookie) {
-    if (Nfc::mCallback != nullptr && !AIBinder_isAlive(Nfc::mCallback->asBinder().get())) {
-        LOG(INFO) << __func__ << " Nfc service has died";
-        Nfc* nfc = static_cast<Nfc*>(cookie);
-        nfc->close(NfcCloseType::DISABLE);
-    }
-}
-
-::ndk::ScopedAStatus Nfc::open(const std::shared_ptr<INfcClientCallback>& clientCallback) {
-    LOG(INFO) << "open";
-    if (clientCallback == nullptr) {
-        LOG(INFO) << "Nfc::open null callback";
-        return ndk::ScopedAStatus::fromServiceSpecificError(
-                static_cast<int32_t>(NfcStatus::FAILED));
-    }
-    Nfc::mCallback = clientCallback;
-
-    clientDeathRecipient = AIBinder_DeathRecipient_new(OnDeath);
-    auto linkRet = AIBinder_linkToDeath(clientCallback->asBinder().get(), clientDeathRecipient,
-                                        this /* cookie */);
-    if (linkRet != STATUS_OK) {
-        LOG(ERROR) << __func__ << ": linkToDeath failed: " << linkRet;
-        // Just ignore the error.
-    }
-
-    int ret = Vendor_hal_open(eventCallback, dataCallback);
-    return ret == 0 ? ndk::ScopedAStatus::ok()
-                    : ndk::ScopedAStatus::fromServiceSpecificError(
-                              static_cast<int32_t>(NfcStatus::FAILED));
-}
-
-::ndk::ScopedAStatus Nfc::close(NfcCloseType type) {
-    LOG(INFO) << "close";
-    if (Nfc::mCallback == nullptr) {
-        LOG(ERROR) << __func__ << "mCallback null";
-        return ndk::ScopedAStatus::fromServiceSpecificError(
-                static_cast<int32_t>(NfcStatus::FAILED));
-    }
-    int ret = 0;
-    if (type == NfcCloseType::HOST_SWITCHED_OFF) {
-        ret = Vendor_hal_close_off();
-    } else {
-        ret = Vendor_hal_close();
-    }
-    Nfc::mCallback = nullptr;
-    AIBinder_DeathRecipient_delete(clientDeathRecipient);
-    clientDeathRecipient = nullptr;
-    return ret == 0 ? ndk::ScopedAStatus::ok()
-                    : ndk::ScopedAStatus::fromServiceSpecificError(
-                              static_cast<int32_t>(NfcStatus::FAILED));
-}
-
-::ndk::ScopedAStatus Nfc::coreInitialized() {
-    LOG(INFO) << "coreInitialized";
-    if (Nfc::mCallback == nullptr) {
-        LOG(ERROR) << __func__ << "mCallback null";
-        return ndk::ScopedAStatus::fromServiceSpecificError(
-                static_cast<int32_t>(NfcStatus::FAILED));
-    }
-    int ret = Vendor_hal_core_initialized();
-
-    return ret == 0 ? ndk::ScopedAStatus::ok()
-                    : ndk::ScopedAStatus::fromServiceSpecificError(
-                              static_cast<int32_t>(NfcStatus::FAILED));
-}
-
-::ndk::ScopedAStatus Nfc::factoryReset() {
-    LOG(INFO) << "factoryReset";
-    Vendor_hal_factoryReset();
-    return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus Nfc::getConfig(NfcConfig* _aidl_return) {
-    LOG(INFO) << "getConfig";
-    NfcConfig nfcVendorConfig;
-    Vendor_hal_getConfig(nfcVendorConfig);
-
-    *_aidl_return = nfcVendorConfig;
-    return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus Nfc::powerCycle() {
-    LOG(INFO) << "powerCycle";
-    if (Nfc::mCallback == nullptr) {
-        LOG(ERROR) << __func__ << "mCallback null";
-        return ndk::ScopedAStatus::fromServiceSpecificError(
-                static_cast<int32_t>(NfcStatus::FAILED));
-    }
-    return Vendor_hal_power_cycle() ? ndk::ScopedAStatus::fromServiceSpecificError(
-                                              static_cast<int32_t>(NfcStatus::FAILED))
-                                    : ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus Nfc::preDiscover() {
-    LOG(INFO) << "preDiscover";
-    if (Nfc::mCallback == nullptr) {
-        LOG(ERROR) << __func__ << "mCallback null";
-        return ndk::ScopedAStatus::fromServiceSpecificError(
-                static_cast<int32_t>(NfcStatus::FAILED));
-    }
-    return Vendor_hal_pre_discover() ? ndk::ScopedAStatus::fromServiceSpecificError(
-                                               static_cast<int32_t>(NfcStatus::FAILED))
-                                     : ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus Nfc::write(const std::vector<uint8_t>& data, int32_t* _aidl_return) {
-    LOG(INFO) << "write";
-    if (Nfc::mCallback == nullptr) {
-        LOG(ERROR) << __func__ << "mCallback null";
-        return ndk::ScopedAStatus::fromServiceSpecificError(
-                static_cast<int32_t>(NfcStatus::FAILED));
-    }
-    *_aidl_return = Vendor_hal_write(data.size(), &data[0]);
-    return ndk::ScopedAStatus::ok();
-}
-::ndk::ScopedAStatus Nfc::setEnableVerboseLogging(bool enable) {
-    LOG(INFO) << "setVerboseLogging";
-    Vendor_hal_setVerboseLogging(enable);
-    return ndk::ScopedAStatus::ok();
-}
-
-::ndk::ScopedAStatus Nfc::isVerboseLoggingEnabled(bool* _aidl_return) {
-    *_aidl_return = Vendor_hal_getVerboseLogging();
-    return ndk::ScopedAStatus::ok();
-}
-
-}  // namespace nfc
-}  // namespace hardware
-}  // namespace android
-}  // namespace aidl
diff --git a/nfc/aidl/default/Nfc.h b/nfc/aidl/default/Nfc.h
deleted file mode 100644
index 1b14534..0000000
--- a/nfc/aidl/default/Nfc.h
+++ /dev/null
@@ -1,72 +0,0 @@
-/*
- * Copyright (C) 2021 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#pragma once
-
-#include <aidl/android/hardware/nfc/BnNfc.h>
-#include <aidl/android/hardware/nfc/INfcClientCallback.h>
-#include <android-base/logging.h>
-namespace aidl {
-namespace android {
-namespace hardware {
-namespace nfc {
-
-using ::aidl::android::hardware::nfc::NfcCloseType;
-using ::aidl::android::hardware::nfc::NfcConfig;
-using ::aidl::android::hardware::nfc::NfcStatus;
-
-// Default implementation that reports no support NFC.
-struct Nfc : public BnNfc {
-  public:
-    Nfc() = default;
-
-    ::ndk::ScopedAStatus open(const std::shared_ptr<INfcClientCallback>& clientCallback) override;
-    ::ndk::ScopedAStatus close(NfcCloseType type) override;
-    ::ndk::ScopedAStatus coreInitialized() override;
-    ::ndk::ScopedAStatus factoryReset() override;
-    ::ndk::ScopedAStatus getConfig(NfcConfig* _aidl_return) override;
-    ::ndk::ScopedAStatus powerCycle() override;
-    ::ndk::ScopedAStatus preDiscover() override;
-    ::ndk::ScopedAStatus write(const std::vector<uint8_t>& data, int32_t* _aidl_return) override;
-    ::ndk::ScopedAStatus setEnableVerboseLogging(bool enable) override;
-    ::ndk::ScopedAStatus isVerboseLoggingEnabled(bool* _aidl_return) override;
-
-    static void eventCallback(uint8_t event, uint8_t status) {
-        if (mCallback != nullptr) {
-            auto ret = mCallback->sendEvent((NfcEvent)event, (NfcStatus)status);
-            if (!ret.isOk()) {
-                LOG(ERROR) << "Failed to send event!";
-            }
-        }
-    }
-
-    static void dataCallback(uint16_t data_len, uint8_t* p_data) {
-        std::vector<uint8_t> data(p_data, p_data + data_len);
-        if (mCallback != nullptr) {
-            auto ret = mCallback->sendData(data);
-            if (!ret.isOk()) {
-                LOG(ERROR) << "Failed to send data!";
-            }
-        }
-    }
-
-    static std::shared_ptr<INfcClientCallback> mCallback;
-};
-
-}  // namespace nfc
-}  // namespace hardware
-}  // namespace android
-}  // namespace aidl
diff --git a/nfc/aidl/default/Vendor_hal_api.cpp b/nfc/aidl/default/Vendor_hal_api.cpp
deleted file mode 100644
index 66a2ebc..0000000
--- a/nfc/aidl/default/Vendor_hal_api.cpp
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
- * Copyright (C) 2021 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <android-base/properties.h>
-#include <dlfcn.h>
-#include <errno.h>
-#include <string.h>
-
-#include "Vendor_hal_api.h"
-
-bool logging = false;
-
-int Vendor_hal_open(nfc_stack_callback_t* p_cback, nfc_stack_data_callback_t* p_data_cback) {
-    (void)p_cback;
-    (void)p_data_cback;
-    // nothing to open in this example
-    return -1;
-}
-
-int Vendor_hal_write(uint16_t data_len, const uint8_t* p_data) {
-    (void)data_len;
-    (void)p_data;
-    return -1;
-}
-
-int Vendor_hal_core_initialized() {
-    return -1;
-}
-
-int Vendor_hal_pre_discover() {
-    return -1;
-}
-
-int Vendor_hal_close() {
-    return -1;
-}
-
-int Vendor_hal_close_off() {
-    return -1;
-}
-
-int Vendor_hal_power_cycle() {
-    return -1;
-}
-
-void Vendor_hal_factoryReset() {}
-
-void Vendor_hal_getConfig(NfcConfig& config) {
-    (void)config;
-}
-
-void Vendor_hal_setVerboseLogging(bool enable) {
-    logging = enable;
-}
-
-bool Vendor_hal_getVerboseLogging() {
-    return logging;
-}
diff --git a/nfc/aidl/default/Vendor_hal_api.h b/nfc/aidl/default/Vendor_hal_api.h
deleted file mode 100644
index 595c2dd..0000000
--- a/nfc/aidl/default/Vendor_hal_api.h
+++ /dev/null
@@ -1,51 +0,0 @@
-/*
- * Copyright (C) 2021 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#pragma once
-
-#include <aidl/android/hardware/nfc/INfc.h>
-#include <aidl/android/hardware/nfc/NfcConfig.h>
-#include <aidl/android/hardware/nfc/NfcEvent.h>
-#include <aidl/android/hardware/nfc/NfcStatus.h>
-#include <aidl/android/hardware/nfc/PresenceCheckAlgorithm.h>
-#include <aidl/android/hardware/nfc/ProtocolDiscoveryConfig.h>
-#include "hardware_nfc.h"
-
-using aidl::android::hardware::nfc::NfcConfig;
-using aidl::android::hardware::nfc::NfcEvent;
-using aidl::android::hardware::nfc::NfcStatus;
-using aidl::android::hardware::nfc::PresenceCheckAlgorithm;
-using aidl::android::hardware::nfc::ProtocolDiscoveryConfig;
-
-int Vendor_hal_open(nfc_stack_callback_t* p_cback, nfc_stack_data_callback_t* p_data_cback);
-int Vendor_hal_write(uint16_t data_len, const uint8_t* p_data);
-
-int Vendor_hal_core_initialized();
-
-int Vendor_hal_pre_discover();
-
-int Vendor_hal_close();
-
-int Vendor_hal_close_off();
-
-int Vendor_hal_power_cycle();
-
-void Vendor_hal_factoryReset();
-
-void Vendor_hal_getConfig(NfcConfig& config);
-
-void Vendor_hal_setVerboseLogging(bool enable);
-
-bool Vendor_hal_getVerboseLogging();
diff --git a/nfc/aidl/default/hardware_nfc.h b/nfc/aidl/default/hardware_nfc.h
deleted file mode 100644
index 0f856c5..0000000
--- a/nfc/aidl/default/hardware_nfc.h
+++ /dev/null
@@ -1,31 +0,0 @@
-/*
- * Copyright (C) 2021 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-#pragma once
-
-typedef uint8_t nfc_event_t;
-typedef uint8_t nfc_status_t;
-
-/*
- * The callback passed in from the NFC stack that the HAL
- * can use to pass events back to the stack.
- */
-typedef void(nfc_stack_callback_t)(nfc_event_t event, nfc_status_t event_status);
-
-/*
- * The callback passed in from the NFC stack that the HAL
- * can use to pass incomming data to the stack.
- */
-typedef void(nfc_stack_data_callback_t)(uint16_t data_len, uint8_t* p_data);
diff --git a/nfc/aidl/default/main.cpp b/nfc/aidl/default/main.cpp
deleted file mode 100644
index 0cc51e7..0000000
--- a/nfc/aidl/default/main.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-/*
- * Copyright (C) 2021 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *      http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-#include <android-base/logging.h>
-#include <android/binder_manager.h>
-#include <android/binder_process.h>
-
-#include "Nfc.h"
-using ::aidl::android::hardware::nfc::Nfc;
-
-int main() {
-    LOG(INFO) << "NFC HAL starting up";
-    if (!ABinderProcess_setThreadPoolMaxThreadCount(1)) {
-        LOG(INFO) << "failed to set thread pool max thread count";
-        return 1;
-    }
-    std::shared_ptr<Nfc> nfc_service = ndk::SharedRefBase::make<Nfc>();
-
-    const std::string instance = std::string() + Nfc::descriptor + "/default";
-    binder_status_t status =
-            AServiceManager_addService(nfc_service->asBinder().get(), instance.c_str());
-    CHECK(status == STATUS_OK);
-    ABinderProcess_joinThreadPool();
-    return 0;
-}
diff --git a/nfc/aidl/default/nfc-service-example.rc b/nfc/aidl/default/nfc-service-example.rc
deleted file mode 100644
index 7d7052e..0000000
--- a/nfc/aidl/default/nfc-service-example.rc
+++ /dev/null
@@ -1,4 +0,0 @@
-service nfc_hal_service /vendor/bin/hw/android.hardware.nfc-service.st
-    class hal
-    user nfc
-    group nfc
diff --git a/nfc/aidl/default/nfc-service-example.xml b/nfc/aidl/default/nfc-service-example.xml
deleted file mode 100644
index 70fed20..0000000
--- a/nfc/aidl/default/nfc-service-example.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<manifest version="1.0" type="device">
-    <hal format="aidl">
-        <name>android.hardware.nfc</name>
-        <fqname>INfc/default</fqname>
-    </hal>
-</manifest>